How to release a Friendly URL when the CMS webpage has been deleted

In Blackbaud Sphere it is possible to assign Friendly URLs to a CMS pages to make them easier for supporters to access. Often times, an organization may end up reusing these Friendly URLs for different pages in their website. In some instances, however, a page may be deleted before the Friendly URL was released. This prevents the organization from releasing the Friendly URL to be used again.